Randy Shropshire/Getty Images for Sony Music and The Estate of Michael JacksonUsher joined members of Michael Jackson’s family Wednesday night at the Mandalay Bay Hotel & Casino in Las Vegas, giving a surprise performance in honor of what would have been the King of Pop’s 60th birthday.

“He really set the mark for many artists for the future,” Usher said of his idol.

“Everybody’s reminded of how incredible an effort that he put into every moment that he ever performed to be memorable,” he added.

Michael’s children, Paris and Prince, and his brothers, Tito and Jackie, attended the event, which began with a performance of the Michael Jackson ONE show by Cirque du Soleil.

Diana Ross’ son, Evan Ross, presented Paris and Prince with the 2018 Elizabeth Taylor Legacy Award for Humanitarian Service on behalf of their late father.

“I love him every day, and I miss him every day, and I feel him every day,” Paris said, “so I’m excited to see so many gather for such a beautiful thing.”

Prince, meanwhile, remembered his father’s non-stop commitment to his career.

“Night and day, didn’t matter the time, working all the time, and working for a positive end goal,” said Prince. “Not obviously just for his own benefit, but for the benefit of children around the world and just humanity in general.”

Tito expressed his feelings about his late brother.

“We’re celebrating his life, his music, his legacy, and he was definitely a star, so it means everything to me, and especially a member of The Jackson Five as well.

For Jackie, it was both a sad and a happy occasion.

“Very emotional cause he’s not here,” he said. “But he lives on, his music lives on, and that’s what we’re celebrating.”